CN210749034U

CN210749034U - Cleaning robot

Info

Publication number: CN210749034U
Application number: CN201920996682.4U
Authority: CN
Inventors: 张珂嘉; 周四海; 刘飞; 李维
Original assignee: Shanghai Nanmu Robot Technology Co ltd
Current assignee: Shanghai Nanmu Robot Technology Co ltd
Priority date: 2018-07-13
Filing date: 2019-06-28
Publication date: 2020-06-16
Anticipated expiration: 2029-06-28
Also published as: CN110710931A

Abstract

The utility model provides a cleaning robot can realize self-cleaning. This cleaning robot has elevating system and washing base, wash the base and include: the water spraying device comprises a base body, a water wiping mechanism arranged on the base body and a water spraying component with a spray head; the spray heads are arranged along the floor mopping part of the cleaning robot and are formed into a structure for spraying water or mist to the floor mopping part; the wiper mechanism comprises a scraper which is contacted with the mopping part and is relatively displaced so as to scrape attachments on the mopping part and extrude water; the lifting mechanism lifts or lowers the mopping part in a manner of contacting or separating the mopping part with or from the squeegee.

Description

Cleaning robot

Technical Field

The utility model relates to a cleaning robot.

Background

The cleaning robot is one kind of intelligent household appliance, and can complete floor cleaning automatically in room with certain artificial intelligence. Generally, the floor cleaning machine adopts a brush sweeping and vacuum mode to absorb and enter sundries on the ground into a garbage storage box of the floor cleaning machine, so that the floor cleaning function is completed. When a user uses the cleaning robot, the cleaning robot is usually placed on the ground, the cleaning robot can roll and collect dirt on the ground through the rotation of the hairbrush, and then the dirt is sucked into the containing box through the dust suction port. However, the general cleaning robot can only clean dust on the ground and some dirt with small volume and light weight, and the cleaning effect on some stubborn stains is not ideal.

In the market, a cleaning cloth is arranged at the bottom of a cleaning robot (see fig. 7, which shows a floor mopping mechanism of a previous cleaning robot, wherein 400 is the cleaning cloth, and 300 is a water tank), when the floor mopping time is long, water and dirt are attached to a flat plate mop, secondary pollution can be caused to the floor in the subsequent floor cleaning process, and more time is wasted for users. In addition, the cleaning of the flat mop needs to disassemble the cleaning cloth for manual cleaning, which wastes time and labor, is not sanitary and affects the user experience.

Particularly, the existing sweeping and mopping integrated machine performs sweeping and mopping simultaneously, the requirement on the use environment is high, for example, objects which cannot be wetted such as carpets cannot exist in the use environment, and in the prior art, the cleaning cloth arranged at the bottom of the sweeping and mopping integrated machine is designed to be even with the ground, so that the pressure of the cleaning cloth on the ground is low, and the mopping effect is not ideal.

In addition, the current sweeping and mopping integrated machine can not select a mopping mode for different environments, can not selectively mop the floor, and can not separate the mopping of a toilet or a kitchen from the mopping of a living room or a bedroom.

In addition, the floor mopping scheme adopted by the existing household cleaning robot is that a cleaning water tank is directly installed at the bottom of the robot, the cleaning water tank comprises a water tank and a cleaning rag adhered to the bottom of the water tank, and water in the water tank continuously permeates into the rag in the advancing process of the robot to clean the ground. That is, the floor is mopped by providing a mop cloth at the bottom of the cleaning robot, and wet mopping is performed by providing a water tank above the mop cloth by penetrating water in the water tank all the way to the mop cloth. However, in the floor mopping device of the cleaning robot, the cleaning water tank is arranged at the bottom of the robot, so that the pressure on the ground is insufficient, and the cleaning effect of the cleaning cloth is affected. And when the time of mopping the floor is long, the mop can not be automatically cleaned, water and dirt are attached to the flat mop, secondary pollution can be caused to the floor in the subsequent floor cleaning process, more time of a user can be wasted, and the mop needs to be detached to be manually cleaned after being cleaned, so that the user experience is influenced.

Furthermore, after the existing cleaning robot is mopped, the cleaning process of the cleaning cloth of the cleaning robot is manually and directly washed by water, the water is not recycled, and the water is wasted.

In the prior art, in the process of cleaning rags or charging the cleaning robot on a return base, the cleaning robot body cannot accurately return to a designed position point to clean the rags or perform charging action because the cleaning robot body does not have a guide and limiting structure and has a position deviation in the process of returning, so that the cleaning robot body cannot normally complete the next step of work.

And the scraper on the cleaning base cleans the cleaning cloth through reciprocating motion, in the process, the cleaning cloth generates a friction force opposite to the motion direction of the scraper relative to the movement of the scraper, and the direction of the friction force is also changed in a reciprocating and alternating mode along with the reciprocating motion of the scraper.

Remove about the rag support can take place along with this effect of power under this reciprocating frictional force in turn to the removal of rag support can drive cleaning machines people's main part and produce the removal together, let cleaning machines people's main part move forward constantly, slowly skew clean position, remove about the cleaning machines people main part promptly and further lead to cleaning machines people to the direction of keeping away from the base and remove, final scraper blade is zero hour to rag support effort, cleaning machines people's main part stops to remove, the scraper blade loses the cleaning function to the rag.

SUMMERY OF THE UTILITY MODEL

The utility model provides a cleaning robot on one hand,

comprises a lifting mechanism and a cleaning base seat,

the cleaning base includes:

the water spraying device comprises a base body, a water wiping mechanism arranged on the base body and a water spraying component with a spray head;

the spray heads are arranged along the floor mopping part of the cleaning robot and are formed into a structure for spraying water or mist to the floor mopping part;

the wiper mechanism comprises a scraper which is contacted with the mopping part and is relatively displaced so as to scrape attachments on the mopping part and extrude water;

the lifting mechanism lifts or lowers the mopping part in a manner of contacting or separating the mopping part with or from the squeegee.

The mopping part comprises a rolling brush, and the rolling brush is configured to rotate under the driving of a motor;

the scraper is long-strip-shaped, and the scraper and the axis of the rolling brush are arranged in parallel.

The roll brush may be configured to contact the squeegee after being lifted by a certain height in a vertical direction by the control of the lifting mechanism.

May, the mopping part comprises a flat mop,

the water scraping mechanism also comprises a transmission mechanism driven by a driving motor component, so that the scraping plate is dragged to do linear reciprocating motion along the flat plate.

The wiper mechanism may have an inclination angle, and the floor mopping member may be configured to rotate the corresponding inclination angle while controlling the elevation by the elevating mechanism.

The lifting mechanism may include: a crank and rocker mechanism, a gear pair or a screw mechanism.

The washing base may have a charging device for charging the cleaning robot.

The cleaning robot comprises a limiting mechanism and a guiding mechanism; the limiting mechanism is arranged on the main body of the cleaning robot, and the guide mechanism is arranged on the cleaning base; or the limiting mechanism is arranged on the cleaning base, and the guide mechanism is arranged on the main body of the cleaning robot; the limiting mechanism and the guiding mechanism are matched to enable the cleaning robot to be located at a designed position when returning to the cleaning base.

Can be, stop gear and guiding mechanism establish mutually supporting through the cover, stop gear includes protruding structure, guiding mechanism is the indent structure, the surface of protruding structure with the internal surface of indent structure is tangent, protruding structure is the big gradual change's in front and back axisymmetric structure, the indent structure have with protruding structure corresponding shape, work as cleaning machines people is in during the design position, last clean subassembly of cleaning machines people with wash the mutual interference of mechanism of scraping of base.

A method for automatically cleaning a floor mopping part by adopting the cleaning robot is characterized by comprising the following steps:

step one, lifting the floor mopping part through a lifting mechanism, and enabling the floor mopping part to gradually approach to a scraper of a cleaning base;

step two, when the mopping part and the scraper form interference, stopping approaching;

step three, rotating the mopping part, spraying water to wash or wet the mopping part by a spray head, scraping attachments on the mopping part by a scraper, and extruding water on the mopping part;

step four, the spray head stops spraying water or mist, the floor mopping component continues to rotate, and the scraper continues to extrude the water on the floor mopping component;

and step five, when the water stains on the mopping part are scraped dry, the mopping part stops rotating.

step one, gradually lifting the mopping part to a position which is adaptive to the angle of a scraper of a cleaning base and is close to the scraper;

step three, spraying water to wash or wet the mopping part by the spray head, moving the scraper plate, scraping attachments on the mopping part, and extruding water out of the mopping part;

step four, the spray head stops spraying water or mist, and the scraper plate continues to extrude the water on the mopping part;

and step five, when the water stains on the mopping part are scraped dry, the scraper stops moving.

May, further include step six: after the water stain on the mopping part is scraped dry, the lifting mechanism enables the mopping part to fall down and continue mopping.

The steps one to six may be performed circularly until the cleaning work is finished.

May, further include: the mopping component returns to the washing base for backwashing every certain area or time.

The utility model discloses in still provide a elevating system and working method for cleaning robot to solve present cleaning robot and can't carry out the problem of selectively mopping ground to indoor integrated environment.

On the one hand, the lifting mechanism in the utility model,

comprises a driving component, a lifting component and a cleaning component which are connected in sequence;

the driving component is used for driving the lifting component;

the lifting assembly can enable the cleaning assembly to be lifted and lowered relative to the surface to be cleaned;

when the cleaning component descends to contact the surface to be cleaned, the cleaning component is arranged to perform cleaning treatment on the surface to be cleaned; the cleaning assembly can be lifted without contacting the surface to be cleaned.

The utility model adopting the structure can independently carry out sweeping and mopping (for example, only mopping and not sweeping, only sweeping and not mopping, etc.); and the obstacle crossing capability can be improved, and the pressure can be applied to mopping the floor.

Preferably, the cleaning assembly is a flat mop, which is configured such that the cleaning surface can be tilted outwardly at an angle when lifted.

When the cleaning assembly swings with the rocker and lifts by a certain angle, the mop can be cleaned and processed more easily.

The cleaning component can be turned over while lifting or turned over after lifting. This has the advantage that the cleaning assembly is easily cleaned or washed, or replaced.

Preferably, the lifting mechanism further comprises a processor and a drive assembly actuator; the processor receives the trigger signal and judges the position of the cleaning component according to the position information so as to transmit an execution signal to the driving component execution mechanism; the driving component executing mechanism is used for controlling the driving component according to the acquired executing signal.

Preferably, the lifting mechanism further comprises a position detection device, and the position detection device is used for detecting the position of the cleaning assembly and feeding back a position signal to the processor.

Preferably, the cleaning device is further provided with an identification module, the processor is connected with the identification module, the identification module can identify the surface to be cleaned and transmit the information of the surface to be cleaned to the processor, and the processor can form a cleaning strategy according to the information of the surface to be cleaned.

The drive assembly may be an electric motor assembly, a pneumatic assembly or a hydraulic assembly.

The lifting assembly may be a linkage mechanism, a linear motion mechanism or a gear pair.

More preferably, the link mechanism may be a crank link mechanism, the crank link mechanism includes a crank, a connecting rod and a rocker connected in sequence, the crank is configured to rotate around the whole circumference under the action of the driving assembly, at least one of the connecting rod and the rocker is configured to have a displacement in a vertical direction, and the cleaning assembly is connected with a rod having a displacement in a vertical direction.

The crank-link mechanism can also comprise a space link mechanism, and at least one spherical pair is arranged among the crank, the link and the rocker.

Preferably, the linear motion mechanism comprises a screw and a nut which are connected in a matching manner, and the screw is configured to have a displacement in a vertical direction.

Preferably, the cleaning assembly comprises a roller brush member.

Preferably, the cleaning assembly comprises a plate member.

On the other hand, the utility model also provides a cleaning robot possesses above-mentioned elevating system.

Preferably, the cleaning robot is a household cleaning robot.

Furthermore, the utility model also provides an above-mentioned cleaning robot's working method, including following step:

the cleaning robot identifies a surface to be cleaned and transmits information to a processor;

step two, the processor judges the cleaning strategy of the surface to be cleaned according to the received information;

step three, when the cleaning strategy in the step two is that the surface to be cleaned is only swept and is not swept, the processor transmits a first execution signal to the driving assembly, the driving assembly drives the lifting assembly and enables the cleaning assembly to be separated from the surface to be cleaned, the processor transmits a second execution signal to the sweeping module, and the sweeping module cleans the surface to be cleaned;

when the cleaning strategy in the second step is that the surface to be cleaned is only cleaned and is not cleaned, the processor transmits a third execution signal to the driving assembly, the driving assembly drives the lifting assembly and enables the cleaning assembly to contact the surface to be cleaned, the cleaning assembly carries out mopping treatment on the surface to be cleaned, the processor transmits a fourth execution signal to the sweeping module, and the sweeping module stops sweeping the surface to be cleaned;

when the cleaning strategy in the second step is to sweep and mop the surface to be cleaned, the processor transmits a third execution signal to the driving assembly, the driving assembly drives the lifting assembly and enables the cleaning assembly to contact the surface to be cleaned, the cleaning assembly carries out mopping treatment on the surface to be cleaned, the processor transmits a second execution signal to the sweeping module, and the sweeping module sweeps the surface to be cleaned;

and when the cleaning strategy in the step two is that the surface to be cleaned is not swept and is not dragged, the processor transmits the first execution signal to the driving assembly, the driving assembly drives the lifting assembly and enables the cleaning assembly to be separated from the surface to be cleaned, the processor transmits the fourth execution signal to the sweeping module, and the sweeping module stops sweeping the surface to be cleaned.

Therefore, the cleaning robot provided by the utility model can independently control the sweeping and the mopping (for example, the cleaning robot can only sweep but not sweep, only sweep but not mop, etc.); and the obstacle crossing capability can be improved, and the pressure can be applied to mopping the floor.

the method comprises the following steps:

step three, when the cleaning strategy in the step two is to mop the surface to be cleaned, the processor sends a floor mopping execution signal to the driving assembly, and the driving assembly drives the lifting assembly and enables the cleaning assembly to contact the surface to be cleaned; and when the cleaning strategy in the step two is that the surface to be cleaned is not mopped, the processor sends a mopping-free execution signal to the driving assembly, and the driving assembly drives the lifting assembly and enables the cleaning assembly to be separated from the surface to be cleaned.

Therefore, the utility model can only mop the floor.

The utility model also provides a pressure-applying floor-mopping mechanism for the cleaning robot,

the driving component is used for driving the lifting component; the lifting assembly can enable the cleaning assembly to be lifted and lowered relative to the surface to be cleaned; when the cleaning component descends to contact the surface to be cleaned, the cleaning component is arranged to perform cleaning treatment on the surface to be cleaned; when the cleaning assembly is lifted to be separated from the surface to be cleaned, the cleaning assembly is arranged not to obstruct the movement of the cleaning robot;

the lifting assembly is provided with a telescopic mechanism, and the telescopic mechanism is connected with the lifting assembly and the cleaning assembly so that the cleaning assembly can be always attached to the surface to be cleaned through the telescopic performance of the cleaning assembly.

Preferably, the telescopic mechanism comprises an elastic element.

Preferably, the lifting assembly comprises a crank-link mechanism, the crank-link mechanism comprises a crank, a connecting rod and a rocker which are sequentially connected, the crank is arranged to rotate around under the action of the driving assembly, at least one of the connecting rod and the rocker is arranged to move in the vertical direction, the cleaning assembly is connected with a rod which moves in the vertical direction, and the telescopic mechanism is arranged on the connecting rod.

Preferably, the cleaning assembly comprises a roller brush member or a flat mop member.

A working method of a pressure-applying floor mopping mechanism for a cleaning robot comprises the following steps:

step one, a lifting assembly drives a cleaning assembly to descend until the cleaning assembly contacts the surface to be cleaned, and the cleaning assembly cleans the surface to be cleaned;

and step two, the lifting assembly drives the cleaning assembly to lift, and the cleaning assembly is separated from the surface to be cleaned.

Preferably, in the first step, after the cleaning assembly contacts the surface to be cleaned, the lifting assembly continues to drive the cleaning assembly to descend by the first height, and the elastic element in the telescopic mechanism is compressed and deformed to apply the first acting force to the cleaning assembly.

Preferably, the lifting mechanism drives the cleaning assembly to descend to the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation so as to prevent the cleaning robot from being lifted due to the overlarge first acting force applied to the cleaning assembly and the corresponding overlarge reaction force.

The cleaning assembly referred to in this application may comprise an active cleaning assembly (the cleaning assembly having a drive means for actively cleaning the surface to be cleaned, for example a roller brush having a drive motor) or a passive cleaning assembly (the cleaning assembly being moved by the cleaning robot for cleaning the surface to be cleaned).

The utility model discloses in still provide a washing base and working method thereof, it can realize that cleaning robot drags ground mechanism self-cleaning.

This wash base includes: the water spraying device comprises a base body, a water wiping mechanism arranged on the base body and a water spraying component with a spray head;

the wiper mechanism includes a wiper blade that contacts and relatively displaces the floor member to squeeze out water while wiping off the attached matter on the floor member.

Preferably, the mopping part comprises a rolling brush, and the rolling brush is configured to rotate under the driving of a motor;

Preferably, the mopping part comprises a flat mop,

Preferably, the mopping part is configured to rotate and lift around a point controlled by a lifting mechanism. It may be that the wiper mechanism has an inclination angle, and the floor-mopping part is configured to rotate the respective inclination angles while controlling the lifting by the lifting mechanism.

The lifting mechanism can be a crank-rocker mechanism, a gear pair or a screw mechanism.

The transmission mechanism may include a synchronous belt mechanism, a slider-crank mechanism, or an eccentric cam mechanism.

When the mechanism is a crank-slider mechanism, the crank-slider mechanism can be connected with the scraper.

The automatic scraper reversing mechanism is characterized by further comprising a scraper automatic reversing mechanism, the transmission mechanism is a belt type transmission mechanism, the belt type transmission mechanism rotates along one direction under the action of the driving motor assembly, and the belt is connected with the scraper automatic reversing mechanism to drive a scraper arranged on the scraper automatic reversing mechanism to do linear reciprocating motion.

When the transmission mechanism is a belt type transmission mechanism, the scraper is fixed on the belt type transmission mechanism, the scraper further comprises a position detection device, a processor and a motor execution device, the position detection device is used for detecting whether the position of the scraper reaches a return position or not, so that a position detection signal is sent to the processor, and the processor controls the motor execution device to enable the motor to rotate reversely, so that the belt type transmission mechanism is driven to reverse.

Preferably, the washing base has a charging device for charging the cleaning robot.

Preferably, the scraper is provided with a toothed part.

The utility model also provides an adopt above-mentioned washing base to carry out self-cleaning's method, including following step:

step one, enabling the mopping part to gradually approach a scraper of a cleaning base;

lifting the mopping part and matching with the scraper, spraying water by a spray head to wash the mopping part or wet the mopping part, scraping attachments on the mopping part by the scraper, and extruding water out of the mopping part;

step four, stopping spraying water by the spray head, continuing to rotate the mopping part, and continuing to extrude the water on the mopping part by the scraper;

thirdly, spraying water by a spray head to wash or wet the mopping part, moving a scraper to scrape off attachments on the mopping part, and extruding water out of the mopping part;

step four, the spray head stops spraying water, and the scraper continuously extrudes the water on the mopping part;

In the above method, the method may further include: when the floor mopping part of the cleaning robot cleans a certain area or time, the cleaning robot returns to the washing base for backwashing through navigation.

Preferably, the backwashing is automatic after every 12-20 square meters of cleaning.

Therefore, the utility model can automatically backwash when the mop is dirty, and prevent dirty mopping.

Preferably, the device is also provided with a dirt separation system, wherein the clean water tank, the clean water pump and the water spray assembly are connected in sequence; the filtering water tank, the sewage pump and the sewage tank are sequentially connected;

the filtering water tank for receiving and filtering the dirty water after cleaning the cleaning cloth is provided with a filtering element;

the sewage pump conveys the water in the filter water tank to a sewage tank, and the purified water tank provides a water source for the water spraying assembly; conveying the water of the purified water tank to the water spraying assembly through the purified water pump;

the water spraying assembly sprays water to the rag.

Preferably, a water circulation filtering system is also provided,

the water circulation filtration system is provided with:

the filter water tank is used for receiving dirty water after cleaning the cleaning cloth and filtering the dirty water, and the filter water tank is provided with a filter element;

the water in the filtering water tank is conveyed to the circulating water tank through a sewage pump;

the circulation tank providing a water source for the water spray assembly while receiving water from the sump; the water of the circulating water tank is conveyed to a circulating water pump of the water spraying assembly; the water spraying component is used for spraying water to the cleaning cloth;

the filter water tank, the sewage pump, the circulating water tank, the circulating water pump and the water spraying assembly are connected in sequence.

The description "cleaning assembly is arranged to enable a cleaning process to be performed on a surface to be cleaned" as used in this application should be understood as follows: the cleaning assembly itself can actively perform a cleaning process on the surface to be cleaned, and the cleaning assembly can perform a cleaning process on the surface to be cleaned under the driving of an external force (see the detailed embodiments described later). The above and other objects, features and advantages of the present invention will be better understood from the following detailed description taken in conjunction with the accompanying drawings.

Drawings

Fig. 1 is a schematic structural view of an elevating mechanism for a cleaning robot according to an embodiment of the present invention.

Fig. 2 is a schematic view of the cleaning assembly in an inverted orientation in the embodiment shown in fig. 1.

Fig. 3 is a schematic view showing the first extreme position M.

Fig. 4 is a schematic view showing the second extreme position N.

Fig. 5 and 6 are schematic structural views of an elevating mechanism for a cleaning robot according to another embodiment of the present invention.

Fig. 7 is a schematic structural view of a floor mopping mechanism of a conventional cleaning robot.

Fig. 8 shows the condition of the crank-link mechanism when the cleaning assembly is in contact with the floor, i.e. lowered to the lowermost position.

Fig. 9 shows the uppermost position of the lifting of the crank linkage.

FIGS. 10 and 11 show a spring loaded schematic view, FIG. 10 showing the cleaning assembly in contact with the floor surface, but with the lift assembly not yet lowered to the lowermost position; fig. 11 shows, on the basis of fig. 10, the lifting mechanism further lowered, the elastic element (spring) deformed and compressed, exerting a pressure on the cleaning assembly.

Fig. 12 is a schematic structural view of a cleaning base according to a first embodiment of the present invention.

Fig. 13 is a front view of a lifting mechanism in a floor mopping part of a cleaning robot to which a cleaning base according to a first embodiment of the present invention is applied.

Fig. 14 is a perspective view of a lifting mechanism in a floor mopping part of a cleaning robot to which a cleaning base according to a first embodiment of the present invention is applied.

Fig. 15 and 16 are partial schematic views of the automatic blade reversing mechanism in the cleaning base according to the first embodiment of the present invention.

Fig. 17 is a schematic view of a reversing slide of the automatic squeegee reversing mechanism of fig. 15.

Fig. 18 is a schematic structural view of a cleaning base according to a second embodiment of the present invention.

Fig. 19 is a partial schematic view of a floor mopping part of a cleaning robot to which a cleaning base according to a second embodiment of the present invention is applied.

Fig. 20 is a flow chart of a water circulation filtration system according to an embodiment of the present invention.

Fig. 21 is a schematic view of the structure of the filtering water tank.

Fig. 22 is a flow chart of a dirt separation system according to an embodiment of the present invention.

Fig. 23 is a schematic view of the structure of the dirt separation system shown in fig. 22.

Fig. 24 is a schematic view of the dirt separation system shown in fig. 22.

Fig. 25 is a cross-sectional view of the dirt separation system of fig. 22.

Fig. 26 is a schematic structural view of a cleaning water circulation system according to an embodiment of the present invention.

Fig. 27 is a schematic view of a projection structure of a guide stopper mechanism according to an embodiment of the present invention.

Fig. 28 is a schematic view of the concave structure of the guide limit mechanism according to an embodiment of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the following embodiments, which are provided only for the purpose of teaching those skilled in the art to perform the best mode of the present invention and are not intended to limit the present invention. The same or corresponding reference numerals denote the same components in the respective drawings, and redundant description is omitted.

Aiming at the problems that the sweeping and mopping integrated machine in the prior art simultaneously sweeps the floor and mops the floor, and has higher requirements on the use environment, the utility model discloses a lifting mechanism for a cleaning robot, which comprises a driving component, a lifting component and a cleaning component which are connected in sequence; the driving component is used for driving the lifting component; the lifting assembly can enable the cleaning assembly to be lifted and lowered relative to the surface to be cleaned; when the cleaning component descends to contact the surface to be cleaned, the cleaning component is arranged to perform cleaning treatment on the surface to be cleaned; the cleaning assembly can be lifted without contacting the surface to be cleaned.

Preferably, the cleaning assembly is lifted, and the lowest position of the cleaning assembly is higher than the bottom surface of the cleaning robot, so that the obstacle crossing capability of the cleaning robot is improved after the cleaning assembly is lifted.

This elevation structure uses in cleaning machines people field, has solved the problem that the technical scheme of water tank and rag combination can not adapt to indoor integrated environment among the prior art, especially more complicated house indoor environment, moreover through adjusting clean subassembly and treating the pressure of clean surface, can exert pressure to stubborn spot and drag ground, has obtained unexpected beneficial effect for prior art.

The lifting structure has good expansion performance, and particularly can select whether to clean the surface to be cleaned or not according to the indoor environment and the surface to be cleaned after being combined with artificial intelligence.

[ implementation of Up-Down motion ]

In one embodiment, the cleaning device further comprises a processor and a driving component executing mechanism, wherein the processor receives a trigger signal (comprising a lifting trigger signal and a falling trigger signal), judges the position of the cleaning component according to position information (comprising preset position information or position information acquired from a position detecting device), and transmits an executing signal (comprising a lifting executing signal and a falling executing signal) to the driving component executing mechanism; the driving component executing mechanism is used for controlling the driving component (enabling the lifting component to realize lifting and descending actions) according to the acquired executing signal until the processor acquires the adjusted position information again (comprising preset adjusted position information and adjusted position information detected by a position detecting device and the like), and the processor transmits a signal for stopping executing to the driving component executing mechanism.

Here, the adjusted position information should be interpreted as: the information of the position of the lifting assembly after the lifting or lowering action can be stored preset position information or position information acquired by a position detection device.

And under the condition that the position information is preset position information, the preset position information comprises lifting position information and descending position information which respectively correspond to the cleaning assembly located at the lifting position and the descending position. The position of the cleaning assembly is preset to match the preset position information and the process can be adjusted at factory set-up.

In the case where the position information is position information detected by, for example, a position detecting device or the like, the position information includes lifting position information and lowering position information, and the processor gives a lifting or lowering execution signal in conjunction with the trigger signal and the position information. And correspondingly, the driving component executing mechanism controls the driving component and drives the lifting component to descend the cleaning component after acquiring the descending executing signal.

In detail:

1. when the trigger signal is a lifting trigger signal, the position detection device detects that the position information of the cleaning assembly is a descending position, and the processor sends a lifting execution signal to the driving assembly execution mechanism; the processor sends an execution stopping signal to the driving component executing mechanism until the processor acquires that the position information of the cleaning component is the lifting position;

2. when the trigger signal is a descending trigger signal, the position detection device detects that the position information of the cleaning assembly is a lifting position, and the processor sends a descending execution signal to the driving assembly execution mechanism; the processor sends an execution stopping signal to the driving component executing mechanism until the processor acquires that the position information of the cleaning component is the descending position;

3. when the trigger signal is a lifting trigger signal, the position detection device detects that the position information of the cleaning assembly is a lifting position, and the processor does not send an execution signal to the driving assembly execution mechanism;

4. when the trigger signal is a descending trigger signal, the position detection device detects that the position information of the cleaning assembly is a descending position, and the processor does not send an execution signal to the driving assembly execution mechanism;

the beneficial effect of the above arrangement is that the purpose of the action of the lifting assembly is consistent with that of the trigger signal, and misoperation is avoided, as shown in the

above cases

3 and 4, for example, if the trigger signal is a lifting trigger signal and the cleaning assembly is in the lifting position, and at this time, if the processor does not judge the position of the cleaning assembly, but directly sends a lifting instruction to the actuating mechanism of the driving assembly, the cleaning assembly will continue to perform lifting action from the lifting position, which will damage the lifting mechanism.

Wherein the position information of the cleaning assembly can be acquired by a position detection device (position sensor), preferably a hall sensor (see fig. 1, wherein a lifting position hall sensor a and a lowering position hall sensor B are shown), and transmitted to the processor.

(Structure of lifting Assembly)

The utility model discloses in, lifting unit can be all motion that can realize the lift action. The lifting assembly has a lifting portion capable of being displaced in a vertical direction (perpendicular to the surface to be cleaned). The cleaning assembly is connected with the lifting part. The generating of the displacement in the vertical direction includes: a linear displacement generated in the vertical direction, or a displacement having a component in the vertical direction.

The lifting assembly may be a link mechanism having a lifting portion that is displaced in the vertical direction, a linear motion mechanism (e.g., a lead screw mechanism), or a gear pair. The connecting rod mechanism can be a space connecting rod mechanism or a plane connecting rod mechanism, wherein when the connecting rod mechanism is the space connecting rod mechanism, at least one spherical pair is arranged among the crank, the connecting rod and the rocker.

Example 1 (lifting component is a crank-link mechanism, cleaning component is a flat mop or a rolling brush)

Fig. 1 to 4 are schematic structural views of an elevating mechanism for a cleaning robot according to an embodiment of the present invention, in which the cleaning assembly in fig. 1 and 2 is a flat mop, and the cleaning assembly in fig. 3 and 4 is a rolling brush. The driving assembly adopted by the embodiment is a motor assembly, the motor assembly comprises a motor executing device, a motor and a reduction gearbox, and the reduction gearbox is used for adjusting the rotating speed output by the motor. The lifting component is a crank connecting rod mechanism. The cleaning assembly may comprise, for example, a flat mop or roller brush member.

In the embodiment shown in fig. 1-4, the cleaning robot may be coupled to the cleaning assembly by at least one crank-link mechanism. The number of the crank connecting rod mechanisms arranged along the cleaning assembly can be determined according to the length size of the cleaning assembly, and preferably, the number of the crank connecting rod mechanisms is two, and the two crank connecting rod mechanisms are respectively connected with two ends of the cleaning assembly. The crank-link mechanism comprises a crank 2, a link assembly 3 and a rocker which are connected in sequence. The crank link mechanism has a lift lever that is displaced in the vertical direction. The lifting rod is provided with a lifting part, and the cleaning assembly is connected with the lifting part.

The motor drives the reduction gearbox 1, an output shaft of the reduction gearbox 1 drives the crank 2 to rotate, and the crank 2 drives the connecting rod assembly to move, so that the cleaning assembly 4 swings.

Specifically, the motor output shaft is connected to the reduction gear box 1. An output shaft of the reduction gearbox 1 is connected with a crank 2, and the crank 2 can rotate 360 degrees along with the output shaft of the reduction gearbox 1. The other end of the crank 2 is connected with a connecting rod assembly 3, and the connecting rod assembly 3 and the crank 2 can rotate relatively. The connecting rod assembly 3 is connected to the cleaning assembly 4 and is capable of relative rotation. At least one of the link assembly and the rocker (cleaning assembly 4) is arranged with a vertical displacement (see fig. 3-4), said cleaning assembly being connected to the rod with a vertical displacement, the cleaning assembly being liftable from the second extreme position N to the first extreme position M. In this embodiment, the cleaning assembly 4 is located on the rocker. The cleaning component can be fixed in the middle of the rocker or integrally formed with the rocker, the first end of the two ends of the rocker is rotatably connected with the connecting rod, and the second end of the two ends of the rocker is rotatably connected with the machine body. The position of the cleaning assembly can be judged by a position detection device such as a limit switch, an infrared sensor or a Hall sensor.

Preferably, the crank-link mechanism is two symmetrically arranged plane-link mechanisms which are respectively connected with two ends of the cleaning assembly. The crank-link mechanism comprises a crank, a connecting rod and a rocker (the connecting part of the cleaning robot is used as a rack) which are sequentially connected, the rocker is used as a lifting rod, the principle of the crank-link mechanism can be known, when the crank is used as a driving element and can be set to rotate in a whole circle under the action of a driving assembly, the continuous rotation of the crank can be converted into the reciprocating motion of the rocker, and the rocker is set to swing in the vertical direction.

When the lifting component is a crank connecting rod mechanism, the rocker swings in the vertical direction,

in this embodiment, as shown in fig. 3-4, the cleaning assembly includes a rolling brush, the rolling brush includes a rolling brush cover and a rolling brush, the rolling brush is in a hollow sleeve structure, the mop cloth is wound on the outer surface of the hollow sleeve, and the rolling brush cover is connected with the rocker. Preferably, the roll brush cover and the rocking bar are integrally formed. The rocking of the rocking bar has two extreme positions, when the rocking bar is in first extreme position M (see fig. 3), the round brush rises to the highest place, and when the rocking bar is in second extreme position N (see fig. 4), the brush hair of round brush contacts the surface of treating cleaning.

Two ends of the rolling brush are connected with two ends of the rolling brush cover through bearings, and one end of the rolling brush cover is provided with a driving shaft connected with a motor, so that the rolling brush is driven to rotate.

In the embodiment shown in fig. 1-2, the cleaning component is a flat mop, and the flat mop and the rocker are integrally formed, so that the flat mop can be lifted in the vertical direction. The flat mop comprises a flat support and a mop cloth connected with the lower surface of the flat support. The attachment means is preferably a hook and loop adhesive, so that the mop cloth can be easily replaced. The rocking motion of the rocker has two extreme positions, a first extreme position (see fig. 2, flip angle θ) in which the plate mop is raised to the highest position, and a second extreme position (see fig. 1) in which the plate mop is parallel to and in contact with the surface to be cleaned.

When the cleaning component is a flat mop, the mop can be cleaned and processed more easily when the cleaning component swings with the rocker and is lifted for a certain angle.

Example 2 (lifting component is a lead screw, cleaning component is a flat mop or a rolling brush)

Fig. 5 to 6 are schematic structural views of an elevating mechanism for a cleaning robot according to another embodiment of the present invention. The linear motion mechanism is preferably a lead screw comprising a screw 12 and a nut 11 in a mating connection, the screw 12 being arranged with a displacement in a vertical direction. The cleaning assembly 14 is connected to the lower end of the screw 12.

Wherein can have a plurality of lead screws and clean the subassembly to be connected, and the lead screw distributes along clean subassembly length direction, and the preferred 1 lead screws that adopt are connected with clean subassembly, and the lead screw moves in the vertical direction, and can know by the principle of lead screw mechanism, when motor drive lead screw nut 11 clockwise or anticlockwise rotation, the lead screw can corresponding upwards or downwards in the vertical direction move.

In this embodiment, as shown in figure 5, the cleaning assembly 14 is a plate mop, which is attached to the lower end of the screw, preferably, the plate mop is hinged to the lower end of the screw, which provides the advantage that the plate mop will better conform to the surface to be cleaned when the screw is moved vertically downward, when the surface to be cleaned has a slope.

As shown in fig. 6, when the screw 12 is moved vertically upward, the flat mop can be flipped outward about an axis parallel to the lateral direction of the cleaning robot. Preferably, the cleaning robot is provided with a stopping part 15, when the screw rod moves vertically upwards, the inner side of the flat mop is supported by the stopping part 15, so that the outer side of the flat mop can rotate around the hinge joint, and the flat mop turns outwards.

In one embodiment, the cleaning component is a rolling brush which comprises a rolling brush cover and the rolling brush, the rolling brush is of a hollow sleeve structure, the mop cloth is wound on the outer surface of the hollow sleeve, and the rolling brush cover is connected with the lower end of the screw rod.

The linear motion of the screw in the vertical direction has two extreme positions, and when the screw is in the first extreme position, the roller brush is lifted to the highest position, and when the screw is in the second extreme position, the roller brush is lowered to be in contact with the surface to be cleaned.

Example 3 (pressure mop)

In another embodiment, the lifting assembly has a telescopic mechanism, and the telescopic mechanism connects the lifting assembly and the cleaning assembly so as to enable the cleaning assembly to be always attached to the surface to be cleaned through the telescopic performance of the telescopic mechanism. The retraction assembly includes a resilient element.

On the basis of the embodiment of the crank connecting rod, a telescopic mechanism is arranged on the connecting rod.

On the basis of the embodiment of the screw rod mechanism, a telescopic mechanism is arranged on the screw rod.

The working method of the pressure mopping comprises the following steps:

In the first step, after the cleaning assembly contacts the surface to be cleaned, the lifting assembly continues to drive the cleaning assembly to descend by a first height, and the elastic element in the telescopic mechanism is compressed and deformed to apply a first acting force to the cleaning assembly.

The lifting mechanism drives the cleaning assembly to descend to the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation so as to prevent the cleaning robot from being lifted due to the fact that the first acting force applied to the cleaning assembly is too large and the corresponding reaction force is too large.

The maximum working deformation does not exceed the maximum compression deformation of the elastic element.

Example 4 control of lifting movement (timing of trigger signal, manual trigger, automatic trigger)

Manual triggering: a remote control device is included that is capable of transmitting a trigger signal to the processor.

Automatic triggering: the visual recognition module is connected with the processor and can recognize the surface to be cleaned and transmit the information of the surface to be cleaned to the processor, and the processor can form a cleaning strategy according to the information of the surface to be cleaned.

step two, the processor judges the cleaning strategy of the surface to be cleaned according to the received information; (for example, the surface to be cleaned is subjected to image recognition through a camera, whether the surface to be cleaned is an object which can be dragged according to the image recognition result is judged, when the surface to be cleaned is provided with objects which cannot be swept, such as water, pet excrement and the like, the cleaning strategy is not swept, and when the surface to be cleaned is provided with objects which cannot be dragged for treatment, such as carpet, pet excrement and the like, the cleaning strategy is not dragged)

when the cleaning strategy in the second step is to sweep and mop the surface to be cleaned, the processor transmits a third execution signal to the driving assembly, the driving assembly drives the lifting assembly and enables the cleaning assembly to contact the surface to be cleaned, the cleaning assembly carries out mopping treatment on the surface to be cleaned, the processor transmits a second execution signal to the sweeping module, and the sweeping module sweeps the surface to be cleaned; and when the cleaning strategy in the step two is that the surface to be cleaned is not swept and is not dragged, the processor transmits the first execution signal to the driving assembly, the driving assembly drives the lifting assembly and enables the cleaning assembly to be separated from the surface to be cleaned, the processor transmits the fourth execution signal to the sweeping module, and the sweeping module stops sweeping the surface to be cleaned.

The utility model provides a cleaning robot possesses above-mentioned elevating system. Among them, as a preferred mode, the cleaning robot may be a household cleaning robot.

The cleaning elements of cleaning robots currently on the market are flat mop cloths, which are connected to the bottom of a water tank and supply water to the mop cloths via the water tank, wherein the water tank and the mop cloths substantially occupy all the space on one side of the cleaning robot in order to increase the water supply time and water supply. However, the distance between the rag and the ground cannot be adjusted, and the sweeping and mopping processes cannot be independently carried out. Fig. 7 is a schematic structural view of a floor mopping mechanism of a conventional cleaning robot. Where 400 is a wipe and 300 is a water tank. It can be seen that the conventional floor mopping mechanisms all have water tanks and no spatial arrangement of lifting mechanisms. The utility model discloses possessed elevating system etc. and spatial arrangement specifically is in the position of original water tank and clean subassembly, removes the water tank, only sets up elevating system and clean subassembly, and the module of sweeping the floor is with prior art in addition, generally including cleaning subassembly and vacuum suction.

Compared with the prior household cleaning robot, the cleaning robot provided by the utility model is provided with the lifting mechanism, so that the sweeping and the mopping can be carried out independently (for example, the sweeping and the mopping can be carried out only without sweeping or sweeping without mopping); and the obstacle crossing capability can be improved, and the pressure can be applied to mopping the floor.

The utility model also provides an above-mentioned cleaning machines people's operating method, including following step:

firstly, a cleaning robot can identify a surface to be cleaned through a sensor (such as a camera) and transmit information to a processor;

The utility model also provides a cleaning machines people's that only drags ground working method:

The utility model also provides a pressure mopping mechanism for the cleaning robot, which comprises a driving component, a lifting component and a cleaning component which are connected in sequence; the driving component is used for driving the lifting component; the lifting assembly can enable the cleaning assembly to be lifted and lowered relative to the surface to be cleaned; when the cleaning component descends to contact the surface to be cleaned, the cleaning component is arranged to perform cleaning treatment on the surface to be cleaned; when the cleaning assembly is lifted to be separated from the surface to be cleaned, the cleaning assembly is arranged not to obstruct the movement of the cleaning robot; the lifting component is provided with a telescopic mechanism, and the telescopic mechanism is connected with the lifting component and the cleaning component so as to enable the cleaning component to be always attached to the surface to be cleaned through the telescopic performance of the cleaning component, and certain pressure can be applied to the surface to be cleaned.

Preferably, the telescopic mechanism comprises an elastic element.

As shown particularly in fig. 8-11, fig. 8 illustrates the position of the crank linkage as the cleaning assembly contacts the floor, i.e., lowered to the lowermost position. Fig. 9 shows the uppermost position of the lifting of the crank linkage. In this embodiment, the telescoping mechanism is a spring. FIGS. 10 and 11 show a spring loaded schematic view, FIG. 10 showing the cleaning assembly in contact with the floor surface, but with the lift assembly not yet lowered to the lowermost position; fig. 11 shows, on the basis of fig. 10, the lifting mechanism further lowered, the elastic element (spring) deformed and compressed, exerting a pressure on the cleaning assembly.

Furthermore, the utility model also provides a working method that is used for the floor mechanism that drags of exerting pressure of cleaning machines people, including following step:

Preferably, in the first step, after the cleaning assembly contacts the surface to be cleaned, the lifting assembly continues to drive the cleaning assembly to descend by a first height, and the elastic element in the telescopic mechanism is compressed and deformed to apply a first acting force to the cleaning assembly. The maximum height of the drop is preferably such that the robot cannot lift.

Therefore, the lifting mopping and the mopping cloth can be cleaned, the mopping cloth can be pressed, and the pressure can be adjusted according to the condition.

A wash base for a cleaning robot, comprising: the water spraying device comprises a base body, a water wiping mechanism arranged on the base body and a water spraying component with a spray head; the spray heads are arranged along the floor mopping part of the cleaning robot and are formed into a structure for spraying water or mist to the floor mopping part; the wiper mechanism includes a wiper blade that contacts and relatively displaces the floor member to squeeze out water while wiping off the attached matter on the floor member. Wherein the floor-mopping part on the cleaning robot can be lifted by the lifting mechanism and interfere with the wiper mechanism.

First embodiment

The utility model discloses in, drag ground part can be dull and stereotyped and drag, drag ground part and be configured to rotate and the lifting around a bit through the control of lifting mechanism. It may be that the wiper mechanism has an angle of inclination and the floor scrubbing member is configured to rotate the respective angle of inclination while controlling the lifting by the lifting mechanism. The lifting mechanism may be a crank and rocker mechanism, a gear pair or a screw mechanism. The wiper mechanism also includes a transmission mechanism driven by the driving motor assembly to cause the wiper blade to reciprocate linearly along the flat plate. The floor element is controlled by the lifting mechanism and interferes with the wiper mechanism. The transmission mechanism may be a synchronous belt mechanism, a slider-crank mechanism, or an eccentric cam mechanism. The automatic scraper reversing mechanism is characterized by further comprising a scraper automatic reversing mechanism, the transmission mechanism is a belt type transmission mechanism, the belt type transmission mechanism rotates along one direction under the action of the driving motor assembly, and the belt is connected with the scraper automatic reversing mechanism to drive a scraper arranged on the scraper automatic reversing mechanism to do linear reciprocating motion. The scraper may be provided with teeth.

Fig. 12 is a schematic structural view of a cleaning base according to a first embodiment of the present invention. Fig. 13 is a front view of a lifting mechanism in a floor mopping part of a cleaning robot to which a cleaning base according to a first embodiment of the present invention is applied. Fig. 14 is a perspective view of a lifting mechanism in a floor mopping part of a cleaning robot to which a cleaning base according to a first embodiment of the present invention is applied. As shown in fig. 12 to 14, it can be seen that the washing base of the first embodiment is suitable for a cleaning robot mounted with a floor-mopping part (flatbed mop).

Specifically, the cleaning robot to which the cleaning base according to the first embodiment is applied includes a flat plate-like floor mopping member (flat plate mop). The mopping component can be controlled by a lifting mechanism to be lifted or put down, rotates around a point to be lifted, and can be matched with the scraper with a certain inclination angle on the cleaning base after rotating to a certain angle.

Wherein the angle of rotation is in the range of 20 deg. -90 deg., preferably 30 deg. -60 deg., which is the angle between the plate mop and the horizontal.

As shown in fig. 13 and 14, the lifting mechanism may include: the mechanism comprises a driving motor component, a crank 52, a connecting rod 53, a flat plate 54 and a base 55, wherein the crank 52, the base 55, the connecting rod 53 and the flat plate 54 form a crank rocker mechanism. The flat plate 54 is arranged on the connecting rod 53, when cleaning cloth on the flat plate 54 needs to be cleaned, the driving motor component drives the crank 52 to do circular motion, the crank 52 drives the connecting rod 53 to move, the flat plate 54 rotates around a rotating point S under the stress state, and the flat plate can move from a flat plate position point C to a flat plate position point C. The cleaning robot returns to the cleaning base to clean the cleaning cloth. After the cleaning cloth is cleaned, the cleaning robot continues to clean the ground, the flat plate 54 descends to a position parallel to the horizontal plane and keeps still under the action of the lifting mechanism, and the interference between the cleaning cloth and the ground is kept and the pressure is kept unchanged under the action of the lifting mechanism.

The utility model discloses a dull and stereotyped ground mechanism that drags possess the power supply, and accessible mechanical mechanism increases dull and stereotyped pressure to the ground, increases clean effect.

Although the crank-rocker mechanism is described above as an example, the floor mopping component may be lifted or lowered by a gear pair, a screw mechanism, or the like as the lifting mechanism.

Fig. 12 is a schematic structural view of a cleaning base according to a first embodiment of the present invention. As shown in fig. 12, a cleaning base according to a first embodiment of the present invention includes: a base body 21, a wiper mechanism provided to the base body 21, and a water spray assembly 23 having a spray head. The wiper mechanism comprises a scraper 22 and a transmission mechanism 25, wherein the transmission mechanism 25 is driven by a driving motor assembly 26, and the scraper 22 arranged on the transmission mechanism 25 can be dragged to linearly reciprocate along a flat plate.

When the cleaning cloth on the cleaning robot needs to be cleaned and returns to the base position, the water spraying assembly 23 firstly washes the cleaning cloth, and meanwhile, the driving motor assembly 26 realizes the linear reciprocating motion of the scraper 22 through the transmission mechanism 25 to clean the cleaning cloth in a reciprocating mode, so that dirt on the cleaning cloth is removed. After the water spraying time is over, the scraper 22 can continue to work to remove the water stains on the rag. The water stain in the cleaning process can be uniformly collected into the water tank 27 in the base, and the filtered water is collected again through the water pump for secondary utilization.

Specifically, the water spray assembly 23 is arranged along the flat mop, and sprays water to the flat mop, so that water flow sprayed from the spray head can cover the flat mop. Meanwhile, the water spraying assembly 23 can generate water flow with certain pressure and wash the flat mop. The water spray assembly 23 may also generate a spray and wet the flat mop. The spraying direction (longitudinal angle and transverse angle) of the spray head can be adjusted. The shape of the spray head stream may include conical, fan-shaped, etc., and is not limited to the row shown in the figures. When the cleaning cloth on the flat mop is attached to the scraper of the wiping mechanism, the scraper 22 can scrape the attachments of the flat mop and can extrude the water on the flat mop. Flights 22 may be provided with teeth thereon.

The transmission mechanism can make the scraper do linear reciprocating motion along the longitudinal direction or the transverse direction of the surface of one side of the flat plate mop, which is provided with the cleaning cloth. Transmission mechanism implementations include, but are not limited to: a synchronous belt mechanism, a slider-crank mechanism, or an eccentric cam mechanism.

In one embodiment, the transmission mechanism may include a belt transmission mechanism that is capable of rotating in a forward direction and a reverse direction under the action of the driving motor assembly 26, and accordingly, a belt on the belt transmission mechanism is capable of rotating in the forward direction and the reverse direction to drive a scraper disposed on the belt.

The motor can produce impulse current when just reversing, when just reversing the frequency height or just reversing after the number of times is too much, can damage the motor, leads to product stability to descend. The utility model discloses a solve this problem, in another embodiment, still possess scraper blade automatic reversing mechanism, belt drive mechanism can rotate along a direction under driving motor subassembly 26's effect, and the belt is connected with reversing mechanism, and linear reciprocating motion can be realized to reversing mechanism to the drive sets up the scraper blade on reversing mechanism and makes linear reciprocating motion. Specifically, the scraper is fixed on the belt type transmission mechanism, and the belt type transmission mechanism further comprises a position detection device, a processor and a motor execution device, wherein the position detection device is used for detecting whether the position of the scraper reaches a return position or not, so that a position detection signal is sent to the processor, and the processor controls the motor execution device to enable the motor to rotate reversely, so that the belt type transmission mechanism is driven to reverse.

Fig. 15 and 16 show a partial schematic view of the squeegee automatic reversing mechanism. Fig. 17 is a schematic view of a reversing slide of the automatic squeegee reversing mechanism of fig. 15. As shown in fig. 15 to 17, the automatic scraper reversing mechanism includes a reversing slider 61 and a guide rail 62, the scraper 22 is disposed on the reversing slider 61, the reversing slider 61 can slide along the guide rail 62, the belt 63 of the transmission mechanism 25 includes at least one protrusion 64, one side of the reversing slider 61 includes an upper edge and a lower edge, the upper edge is provided with at least a first rib 65, and the corresponding lower edge is provided with at least a second rib 66. It is possible that the first rib is provided at one end of the upper edge and the second rib is provided at the corresponding other end of the lower edge. The first rib 65 and the second rib 66 cooperate with the projection 64 to enable the slider to reverse direction after passing the edge of the belt 63. In addition, this embodiment form still can set up an automatic cleaning water tank, washs and strikes unnecessary water stain on the rag to the rag after the completion of cleaning, water stain accumulation and manual cleaning rag problem when solving current robot clean ground.

The cleaning base may also have a basin. The spray head can be arranged above the water tank or in the water tank. The water wiping mechanism can also be arranged in the water tank. The water tank can also be internally provided with a filtering piece for filtering sewage. The scraper 22 is disposed above the filter member, and the attached matter scraped off by the scraper 22 is dragged on by the flat plate and trapped by the filter member, and the water squeezed out by the scraper on the flat plate flows into the water tank disposed downstream of the filter member through the filter member. The water tank is connected through first water pump to the basin, and the shower nozzle is connected through the second water pump to the water tank. The bottom of the water tank may have a slope, which acts to quickly concentrate the water in the water tank to the bottom of the slope, thereby preventing air from entering the first water pump, creating bubbles. When the mop barrel is cleaned, the mop barrel is placed in the water tank, and the spray head sprays water to wet the mop barrel. The mop barrel is driven by the motor to rotate, and the scraper is contacted with the mop barrel to scrape off the sewage. When the mop cylinder is squeezed to be dry, the spray head stops spraying water, the scraper blade continues to scrape water until water stains on the mop cylinder are scraped (the water stains on the mop cylinder do not drip under the condition of no external force).

The automatic cleaning method of the cleaning base according to the present embodiment may include the steps of:

and step five, when the water stains on the mopping part are wiped dry (the water stains on the mopping part can be dripped without external force, and not only means that no water exists on the mopping part), stopping the movement of the scraper.

Second embodiment

Fig. 18 is a schematic structural view of a cleaning base according to a second embodiment of the present invention. As shown in fig. 18, the cleaning base of this embodiment includes a base body 71, a wiper mechanism 72 provided to the base body 71, and a water spray assembly having a spray head 73.

Fig. 19 is a partial schematic view of a floor mopping part of a cleaning robot to which a cleaning base according to a second embodiment of the present invention is applied. As shown in fig. 19, the cleaning base according to this embodiment can be applied to a cleaning robot to which a floor-mopping member (a rolling brush 74) is attached. In this embodiment, the mopping component may be a roller brush 74, the roller brush 74 being configured to be driven by a motor to rotate;

the mopping part is configured to rotate and lift around a point controlled by a lifting mechanism. It may be that the wiper mechanism has an angle of inclination and the floor scrubbing member is configured to rotate the respective angle of inclination while controlling the lifting by the lifting mechanism. The lifting mechanism may be a crank and rocker mechanism, a gear pair or a screw mechanism.

The wiper mechanism may include a wiper blade, which may be elongated, the wiper blade and the axis of the roller brush being arranged in parallel.

The floor-scrubbing member (roller brush 74) can be controlled to be raised or lowered and raised vertically to a height to contact the squeegee of the wiper mechanism 72. The mop component is internally provided with a cylindrical mop tube which can rotate under the drive of a motor.

The spray head 73 can spray water to the rolling brush 74, and the spray head 73 can generate water flow with a certain pressure and wash the rolling brush 74. The spray head 73 may also generate a spray and wet the roller brush 74.

In the present embodiment, the spray heads 73 are arranged along the axial direction of the rolling brush 74, and the water flow sprayed from the spray heads 73 can cover the rolling brush (at least can cover a closed line area on the rolling brush).

The spraying direction (longitudinal angle, transverse angle) of the spraying head 73 is adjustable, and the extension direction of the spraying direction can be perpendicular to the axis of the rolling brush 74. The shape of the water stream of the spray head includes conical, fan-shaped, etc., and is not limited to the row shown in the drawings.

The wiper mechanism 72 may have an elongated wiper blade. The axis of the squeegee and the roller brush 74 are arranged in parallel. The scraper may have an inclination angle enabling the bristles of the roll brush and the scraper to gradually contact and gradually interfere. The term "interference" as used herein means that the squeegee is inserted into the bristles of the floor-mopping unit or that pressure is applied to the surface of the floor-mopping unit.

The inclined surface of the scraper can be a plane or a cambered surface. When the round brush rotatory lifting and laminating scraper blade, the attachment on the round brush can be scraped off to the scraper blade, can extrude the water on the round brush simultaneously.

The scraper can be also provided with a tooth-shaped part, when the rolling brush and the scraper are interfered, the tooth-shaped part can reduce the load and reduce the resistance of the rotation of the rolling brush, thereby reducing the power consumption.

The cleaning base of the present embodiment may further include a water tank. The spray head 73 may be disposed above or within the water tank. The wiper mechanism 72 may also be disposed within the tank. The water tank can also be internally provided with a filtering piece for filtering sewage. The scraper blade sets up in filtering a piece top, and the attachment that is scraped off by the scraper blade on the round brush is filtered a piece and is held back, and the water that is extruded by the scraper blade on the round brush flows into the basin that sets up in filtering a piece low reaches through filtering a piece. The water tank is connected through first water pump to the basin, and the shower nozzle is connected through the second water pump to the water tank. The bottom of the water tank may have a slope, which acts to quickly concentrate the water in the water tank to the bottom of the slope, thereby preventing air from entering the first water pump, creating bubbles. When the mop barrel is cleaned, the mop barrel is placed in the water tank, and the spray head sprays water to wet the mop barrel. The mop cylinder is driven by the motor to rotate, and the scraper blade is contacted with the mop cylinder to scrape off the sewage. When the mop cylinder is squeezed to be dry, the spray head stops spraying water, the scraper blade continues to scrape water until water stains on the mop cylinder are scraped (the water stains on the mop cylinder do not drip under the condition of no external force, and the condition that no water exists on a mopping part is not just the condition that no water exists).

Cleaning method

The method for automatically cleaning a cleaning base according to the present embodiment may include the steps of:

step one, a mopping part (a rolling brush) is gradually close to a scraping plate of a cleaning base;

step three, the mopping part rotates, the spray head sprays water to wash the mopping part or wet the mopping part, and the scraper plate adheres to the mopping part

Scraping the object and simultaneously squeezing out water on the mopping part;

and step five, when water stains on the mopping part are scraped dry (the water stains on the mopping barrel can be dropped without external force), the mopping part stops rotating.

According to the utility model, the spray heads are transversely arranged along the floor mopping part, so that the water flow sprayed out from the spray heads can cover the floor mopping part, the spray heads can spray water to the floor mopping part, and simultaneously the spray heads can generate water flow with certain pressure and wash the floor mopping part; or the spray head can generate a spray and wet the floor element. When the mopping component is attached to the scraper of the wiping mechanism, the scraper can scrape the attachments of the mopping component and can extrude water on the mopping component. Therefore, the utility model discloses a wash the base and can carry out cleaning robot effectively and drag the self-cleaning of ground mechanism, prevent simultaneously that the ground clearance in-process from causing secondary pollution to ground.

In addition, the water tank may correspond to a later filtering water tank, the filtering element may correspond to a later filtering element, for example, a filtering net, the first water pump may correspond to a later sewage pump, the water tank may correspond to a later circulating water tank or a sewage tank, and the second water pump may correspond to a later circulating water pump.

Water circulation mode 1: water circulation filtering system

The utility model relates to a still possess water circulating filtration system in the embodiment, possess: the filter water tank is used for receiving dirty water after cleaning the cleaning cloth and filtering the dirty water, and the filter water tank is provided with a filter element; the water in the filtering water tank is conveyed to the circulating water tank through a sewage pump; the circulation water tank which supplies water to the water spray assembly and simultaneously receives water from the filtering water tank; the water of the circulating water tank is conveyed to a circulating water pump of the water spraying assembly; the water spraying component is used for spraying water to the cleaning cloth; the filter water tank, the sewage pump, the circulating water tank, the circulating water pump and the water spraying assembly are connected in sequence.

Fig. 20 is a flow chart of a water circulation filtration system according to an embodiment of the present invention. As shown in fig. 20, a water circulation filtering system for a cleaning robot according to an embodiment of the present invention includes a filtering water tank, a sewage pump, a circulation water tank, a circulation water pump, and a water spraying unit (e.g., the water spraying unit 23 described above) connected in sequence.

The filtering water tank is provided with a filtering element and is used for receiving dirty water after cleaning the cleaning cloth and filtering the dirty water. The sewage pump is used for conveying the water in the filtered water tank to the circulating water tank. The circulation tank is used to supply water to the water spraying unit while receiving water from the filtering tank. And the circulating water pump is used for conveying the water in the circulating water tank to the water spraying element. The water spraying element is used to spray water to the wipe as previously described.

Fig. 21 is a schematic structural view of the filtration tank. As described above, the filter tank corresponds to the water tank described above, so that the filter tank is provided in both of the "water circulation filtration system" and the "dirt separation system" described below.

The filter tank includes a filter tank 104 and a sewage receiving tank 103. The filter box 104 is used for receiving dirty water for cleaning rags and is provided with a water guide pipe, the sewage receiving box 103 is used for filtering the dirty water and is provided with a water guide hole, and the water guide pipe is in sealing fit with the water guide hole, so that the filter box 104 can be connected with the sewage receiving box 103 in a removable manner.

The filter tank 104 is provided therein with a slope capable of guiding water entering the filter tank 104 toward the water guide pipe to enter the sewage receiving tank 103. Be provided with water level detection sensor 201 in the sewage receiving tank to adjust corresponding water pump according to the water level condition in the sewage receiving tank, make the water level in the sewage receiving tank 103 be less than water guide hole lower limb all the time, thereby make the water in the rose box can flow to sewage receiving tank 103 all the time.

Specifically, the water level sensor 201 is used for detecting whether the water level of the sewage receiving tank 103 is higher than an upper limit, and adjusting the motor according to the water level detection. If the water level is higher than the upper limit, the suction is increased by the sewage pump to adjust the water level. In one embodiment, the height of the upper limit is the height of the lowest point of the inlet conduit.

A water inlet pipeline is arranged on the filter box 104, a water inlet hole is formed in the sewage receiving box 103, and the water inlet pipeline is in sealing fit with the water inlet hole. The sewage receiving tank outlet 202 of the sewage receiving tank 103 is connected with the sewage pump.

In one embodiment, the circulation tank is detachably provided. The circulation water tank is provided with a water filling port, and therefore water can be replaced.

In one embodiment, the circulation tank is provided with a lower water level limit indicator.

In one embodiment, the circulation tank is provided with a water shortage alarm. Thus, the circulation tank can perform the back flow control.

In one embodiment, the water jet pressure may be controlled by a circulating water pump connected to the water jet assembly. The spraying direction (longitudinal angle and transverse angle) of the spray head can be adjusted. The direction of the spray may extend perpendicular to the axis of the roll brush 74. The shape of the water flow of the spray head includes a conical shape, a fan shape, etc., and is not limited to a row.

Water circulation mode 2: dirt separation system

The utility model can also be provided with a dirt separation system, wherein, the clean water tank, the clean water pump and the water spray component (for example, comprising a spray head) are connected in sequence; the filtering water tank, the sewage pump and the sewage tank are sequentially connected; the filtering water tank for receiving and filtering the dirty water after cleaning the cleaning cloth is provided with a filtering element; the sewage pump conveys the water in the filtering water tank to a sewage tank; the water purifying tank provides water for the water spraying assembly; conveying the water of the purified water tank to the water spraying assembly through the purified water pump; the water spraying assembly sprays water to the rag.

As shown in fig. 22, an embodiment of the present invention may further include a dirt separating system for a cleaning robot, including a clean water tank, a clean water pump, and a water spray element, which are connected in this order. Further comprises a filtering water tank, a sewage pump and a sewage tank which are connected in sequence.

Referring to fig. 23 to 25, the filtering water tank is provided with a filter element. The filtering water tank is used for receiving dirty water after cleaning the cleaning cloth and filtering the dirty water.

The sewage pump 101 serves to deliver the water in the filtered water tank to the sewage tank. The sewage pump 101 has a sewage pump inlet pipe 1011 and a sewage pump outlet pipe 1012, and water discharged from the sewage pump outlet pipe 1012 flows to the sewage tank.

Clean water tank 102 is used to provide a source of water to the water emitting elements. And a circulating water pump for delivering the water in the fresh water tank 102 to the water spraying member. The water spraying element is used to spray water to the wipe. In one embodiment, the structure of the filter water tank includes a filter tank 104 and a sewage receiving tank 103, the filter tank 104 is used for receiving dirty water for cleaning the rags, and the sewage receiving tank 103 is used for filtering the dirty water. Filter box filter screen 1041 is part of filter box 104, and filter box filter screen 1041 is disposed on top of filter box 104. In use, the filter box filtering net 1041 in the filter box 104 can retain large particles of dirt, hair and the like. The waste water receiving tank filter screen 1031 is a part of the waste water receiving tank 103. The sewage receiving tank filter screen 1031 is arranged at the bottom of the sewage receiving tank 103. The filter screen 1031 of the sewage receiving tank has a secondary filtering function, and small particulate matters in the sewage are left.

In one embodiment, the sewage receiving tank 103 is provided with a water level sensor for detecting whether the water level of the sewage receiving tank is higher than an upper limit, and if so, the suction is increased by the sewage pump to adjust the water level. In one embodiment, the height of the upper limit is the height of the lowest point of the inlet conduit (aqueduct).

The filter box is provided with a water inlet pipeline, the sewage receiving box is provided with a water inlet hole, and the water inlet pipeline is in sealing fit with the water inlet hole.

In one embodiment, the fresh water tank is detachably connected to the water circulation filtration system, and the foul water tank is provided with a water filling port, whereby water can be exchanged. In one embodiment, the fresh water tank is provided with a lower water level limit indicator. In one embodiment, the clean water tank is provided with a water shortage alarm.

In one embodiment, the spout water pressure may be controlled by a clean water pump connected to the water spray assembly. The spraying direction (longitudinal angle and transverse angle) of the spray head can be adjusted. The direction of the spray may extend perpendicular to the axis of the roll brush 74. The shape of the water flow of the spray head includes a conical shape, a fan shape, etc., and is not limited to a row.

The sewage tank is arranged to be detachable and is provided with a water full alarm sensor.

The washing water circulation system includes: a clean water pump 105, a sewage pump 101, a water pump connection hose, a clean water tank 102, a filter tank 104, a filter tank screen, a sewage receiving tank 103, a sewage receiving tank screen, a water spray pipe (the foregoing water spray module 23), and the like. Wherein, the water purifying tank 105, the water inlet pipe 1051 of the water purifying pump, the water outlet pipe 1052 of the water purifying pump and the water spray pipe form a water purifying and cleaning system; the filter box 104, the filter box filter screen, the sewage receiving box 103, the sewage receiving box filter screen, the sewage pump inlet pipe 1011, the sewage pump 101, the sewage pump outlet pipe 1012 and the clean water tank 102 form a sewage filtering circulation system.

When cleaning machines people is in cleaning work, through above-mentioned water purification cleaning system, the water purification will spray on the rag, rivers can wash the dirty on the rag and assemble in rose box 104. When sewage is in the process of the filter box, the filter screen in the filter box can stay the large-particle dirt, hair and the like on the filter screen, sewage after the large-particle impurity is filtered can flow into the sewage receiving box of the next level under the action of gravity, the filter screen secondary filtration in the sewage receiving box is carried out, small particle substances in the sewage are left, sewage after the secondary filtration can become secondary utilization, the sewage flows into the water purifying box 102 again under the drive of the sewage pump 101, and the water recycling in the cleaning process of the cleaning rags is realized.

The filter box 104 can be taken out from the base freely, and can be taken out after being cleaned every time, so that large-particle dirt and hair in the filter screen can be cleaned, and blockage can be avoided. The sewage receiving box 103 can also be detached, and after the cleaning times are determined, the sewage receiving box can be detached to clean or replace a filter screen in the sewage receiving box, so that the reduction or blockage of the filtering effect of the sewage receiving box is avoided.

This embodiment has solved the water use problem of cleaning robot self-cleaning rag in-process, realizes wasing the cyclic utilization of rag water, has solved the problem of dirty water recovery and water tank capacity simultaneously.

This wash water circulating and filtering system installs at clean in-process, and the circulating water can pass through the spray pipe from the water purification case and on shower nozzle spraying water smoke or rivers to the rag, the circulating water can moisten the rag through the rivers that the shower nozzle formed, furtherly, can also take away the filth on the rag. The scraper further scrapes and washes the wet cleaning cloth, the sewage formed by the scraping and washing enters the water filtering and circulating system, the sewage passes through the filtering element and then flows into the sewage receiving tank, and the filtered sewage can be reused and flows back to the clean water tank. The circulating water is water directly obtained through a water purifying tank or water obtained after treatment of a water circulating filtering system.

In addition, after the sewage flows through the filter box, the dirt on the cleaning cloth can be left on the filter disc, so that the dirt can be conveniently cleaned.

In one embodiment, as shown in FIG. 26, the spray assembly is connected to the faucet 66 through an inlet tube, the filtered water tank is connected to an outlet line through a sewage pump, and the outlet line is connected to a floor drain 88.

The advantage of this circulation mode is, directly will wash the hydrologic cycle system and the house hardware combination of base to reduce artificial intervention, realize intelligent house.

In the above-described respective embodiments, the washing base may further have a charging device for charging the household cleaning robot.

As shown in fig. 27 and 28, the utility model discloses a spacing guide mechanism for a cleaning robot, which comprises a spacing mechanism and a guide mechanism; the limiting mechanism is arranged on the cleaning robot main body, and the guide mechanism is arranged on the base; or the limiting mechanism is arranged on the base, and the guide mechanism is arranged on the cleaning robot main body; the limiting mechanism and the guide mechanism are matched to enable the cleaning robot to be located at a designed position when returning to the base. In one embodiment, the limiting mechanism and the guiding mechanism are matched with each other through a sleeve.

In one embodiment, the limiting mechanism comprises a convex structure, and the guiding mechanism is a concave structure. In fig. 27-28, a convex structure 81 and a concave structure 82 are shown.

In one embodiment, the outer surface of the convex structure and the inner surface of the concave structure are tangent.

In one embodiment, the convex structure is an axisymmetric structure with gradually changed front and back, and the concave structure has a shape corresponding to the convex structure.

In one embodiment, when the cleaning robot is in the design position, the cleaning robot is in the charging position and the cleaning robot is in the position to be cleaned.

In one embodiment, the cleaning blade of the base and the cloth on the cleaning robot interfere with each other when the cleaning robot is in the position to be cleaned. The interference in the utility model refers to the contact between the scraper and the cleaning cloth, and the front end of the scraper goes deep into the surface of the cleaning cloth for a certain distance.

In one embodiment, the cleaning robot may include a plurality of limit guide mechanisms.

In one embodiment, the limit guide mechanism is located on a vertical plane where the central axis of the cleaning robot and the base are located. The utility model provides a vertical plane refers to the vertical plane of perpendicular to cleaning machines people bottom surface or base bottom surface.

As shown in fig. 27-28, the base has a raised structure, a convex structure, which assumes a small front and a large back; the corresponding part of the whole machine is provided with an inwards concave structure, namely an inwards concave structure, and the structure is in a state of large outside and small inside.

In the process that the whole machine returns to the base, the front end of the convex structure is small, the outer part of the concave structure is large, and even if the central axis of the whole machine deviates to a certain extent relative to the central axis of the base before the relative position of the front end and the outer part is zero, the concave structure of the whole machine can still be smoothly butted with the convex structure of the base as long as the deviation is smaller than the maximum clearance between the front end of the convex structure and the outer part of the concave structure. As the whole machine continues to retreat, the gap is gradually reduced, the whole machine also slowly corrects the position of the whole machine and finally returns to the correct position point, and the function of the limiting mechanism is the guiding function. When the whole machine is in the correct position of the base and the cleaning cloth is started for cleaning, the cleaning cloth prevents the reciprocating motion of the scraper blade to generate a reciprocating friction force in opposite directions, and the whole machine can generate a trend of moving left and right under the action of the friction force. At the moment, the gap between the inner concave structure of the whole machine and the convex structure of the base is in the minimum state, when the whole machine moves in the left-right direction, the two side surfaces of the convex structure and the inner concave structure contact and block the further movement of the whole machine, and therefore the deviation of the whole machine caused by stress is avoided, and the limiting function of the limiting mechanism is achieved.

The utility model relates to a cleaning machines people of embodiment has elevating system and cleaning frame, cleaning frame includes: the water spraying device comprises a base body, a water wiping mechanism arranged on the base body and a water spraying component with a spray head; the spray heads are arranged along the floor mopping part of the cleaning robot and are formed into a structure for spraying water or mist to the floor mopping part; the wiper mechanism comprises a scraper which is contacted with the mopping part and is relatively displaced so as to scrape attachments on the mopping part and extrude water; the lifting mechanism lifts or lowers the mopping part in a manner of contacting or separating the mopping part with or from the squeegee. The cleaning robot of the present invention will be described in detail with reference to some embodiments.

First embodiment (passive wiper of cleaning machine base)

Specifically, the cleaning robot to which the cleaning base according to the first embodiment is applied has a cylindrical floor-mopping member (rolling brush) at the tail. The floor mopping part can be controlled to be lifted or lowered by a lifting mechanism (the structure of the lifting mechanism is described later), and can be contacted with a scraper of the wiper mechanism after being lifted to a certain height in the vertical direction. The mop component is internally provided with a cylindrical mop tube which can rotate under the drive of a motor.

The shower nozzle can be to the round brush water spray, and the shower nozzle can produce the rivers of certain pressure simultaneously to wash the round brush. The spray head can also generate spray and moisten the rolling brush.

In the present embodiment, the nozzles are arranged along the axial direction of the rolling brush, and the water flow sprayed from the nozzles can cover the rolling brush (at least can cover a closed line area on the rolling brush).

The spraying direction (longitudinal angle and transverse angle) of the spray head can be adjusted, and the extension direction of the spraying direction can be perpendicular to the axis of the rolling brush. The shape of the water stream of the spray head includes conical, fan-shaped, etc., and is not limited to the row shown in the drawings.

The wiper mechanism has an elongated wiper blade. The axes of the scraper and the roller brush are arranged in parallel. The scraper may have an inclination angle enabling the bristles of the roll brush and the scraper to gradually contact and gradually interfere. The term "interference" as used herein means that the squeegee is inserted into the bristles of the floor-mopping unit or that pressure is applied to the surface of the floor-mopping unit. The inclined surface of the scraper can be a plane or a cambered surface. When the round brush rotatory lifting and laminating scraper blade, the attachment on the round brush can be scraped off to the scraper blade, can extrude the water on the round brush simultaneously. The scraper can be provided with a tooth-shaped part, when the rolling brush and the scraper interfere with each other, the tooth-shaped part can reduce the load and reduce the resistance of the rotation of the rolling brush, thereby reducing the power consumption.

The automatic cleaning method for cleaning the base of the embodiment can comprise the following steps:

lifting the rolling brush through a lifting mechanism, and enabling the rolling brush to gradually approach a scraper of a cleaning base;

step two, when the rolling brush and the scraper form interference, stopping approaching;

rotating the rolling brush, spraying water by a spray head to wash or wet the rolling brush, scraping attachments on the rolling brush by a scraper, and extruding water on the rolling brush;

step four, stopping spraying water by the spray head, continuously rotating the rolling brush, and continuously extruding the water on the rolling brush by the scraper;

and step five, when the water stains on the roller brush are scraped to be dry (no water drips on the roller brush under the condition of not depending on external force), stopping the rotation of the roller brush.

In addition, the cleaning base may also have a water tank. The washing base has a charging device for charging the household cleaning robot.

The spray head can be arranged above the water tank or in the water tank. The water wiping mechanism can also be arranged in the water tank. The water tank can also be internally provided with a filtering piece for filtering sewage. The scraper blade sets up in filtering a piece top, and what be scraped by the scraper blade on the round brush attaches the crop and is intercepted by filtering a piece, and the water that is extruded by the scraper blade on the round brush flows into the basin that sets up in filtering a piece low reaches through filtering a piece. The water tank is connected through first water pump to the basin, and the shower nozzle is connected through the second water pump to the water tank. The bottom of the water tank may have a slope, which acts to quickly concentrate the water in the water tank to the bottom of the slope, thereby preventing air from entering the first water pump, creating bubbles. When the mop barrel is cleaned, the mop barrel is placed in the water tank, and the spray head sprays water to wet the mop barrel. The mop barrel is driven by the motor to rotate, and the scraper is contacted with the mop barrel to scrape off the sewage. When the mop cylinder is squeezed to be dry, the spray head stops spraying water, the scraper blade continues to scrape water until water stains on the mop cylinder are scraped (the water stains on the mop cylinder do not drip under the condition of no external force, and do not mean that no water exists on a mopping part).

Second embodiment (active wiper of cleaning machine base)

The cleaning base according to the second embodiment is suitable for a cleaning robot to which a floor mopping member (flat mop) is attached.

Specifically, the cleaning robot to which the cleaning base according to the second embodiment is applied has a flat plate-like floor mopping member (flat plate mop). The mopping component can be controlled by the lifting mechanism to be lifted or put down, rotates around a point to be lifted, and can be matched with the scraper with a certain inclination angle on the cleaning base after rotating to a certain angle.

The elevating mechanism may include: the device comprises a driving motor component, a crank, a connecting rod, a flat plate and a base, wherein the crank, the base, the connecting rod and the flat plate form a crank rocker mechanism. The flat plate is arranged on the connecting rod, when cleaning cloth needs to be cleaned on the flat plate, the driving motor component drives the crank to do circular motion, the crank drives the connecting rod to move, the flat plate does rotary motion around a rotary point S under the stress state, and the flat plate can move to a flat plate position point C from a flat plate position point C. The cleaning robot returns to the cleaning base to clean the cleaning cloth. After the cleaning cloth is cleaned, the cleaning robot continues to clean the ground, the flat plate descends to a position parallel to the horizontal plane and keeps still under the action of the lifting mechanism, and the interference between the cleaning cloth and the ground is kept and the pressure is kept unchanged under the action of the lifting mechanism.

Although the crank-rocker mechanism has been described above as an example, the floor mopping member may be raised or lowered by a gear pair, a screw mechanism, or the like as the elevating mechanism.

The utility model discloses second embodiment's washing base includes: the water spraying device comprises a base body, a water wiping mechanism arranged on the base body and a water spraying assembly with a spray head. The water scraping mechanism comprises a scraping plate and a transmission mechanism, the transmission mechanism is driven by the driving motor assembly, and the scraping plate arranged on the transmission mechanism can be dragged to do linear reciprocating motion along the flat plate.

When the cleaning cloth on the cleaning robot needs to be cleaned and returned to the base position, the water spraying assembly washes the cleaning cloth firstly, and meanwhile, the driving motor assembly realizes the linear reciprocating motion of the scraper plate through the transmission mechanism to clean the cleaning cloth in a reciprocating mode, so that dirt on the cleaning cloth is removed. After the water spraying time is over, the scraper can continue to work to remove water stains on the cleaning cloth. The water stain in the cleaning process can be uniformly collected into the water tank in the base, and the filtered water is collected again through the water pump for secondary utilization.

Specifically, the water spraying assemblies are arranged along the flat mop and spray water to the flat mop, so that water flow sprayed from the spray head can cover the flat mop. Meanwhile, the water spraying assembly can generate water flow with certain pressure and wash the flat mop. The water spray assembly can also generate a spray and wet the flat mop. The spraying direction (longitudinal angle and transverse angle) of the spray head can be adjusted. The shape of the spray head stream may include conical, fan-shaped, etc., and is not limited to the row shown in the figures. When the cleaning cloth on the flat mop is attached to the scraper of the wiper mechanism, the scraper can scrape off the attachments of the flat mop and can extrude water on the flat mop. The scraper may be provided with teeth.

In one embodiment, the transmission mechanism may include a belt transmission mechanism, and the belt transmission mechanism may rotate forward and backward under the action of the driving motor assembly, and accordingly, a belt on the belt transmission mechanism may rotate forward and backward to drive the scraper disposed on the belt.

The motor can produce impulse current when just reversing, when just reversing the frequency height or just reversing after the number of times is too much, can damage the motor, leads to product stability to descend. The utility model discloses a solve this problem, in another embodiment, still possess scraper blade automatic reversing mechanism, belt drive mechanism can rotate along a direction under driving motor subassembly's effect, and the belt is connected with reversing mechanism, and linear reciprocating motion can be realized to reversing mechanism to the drive sets up the scraper blade on reversing mechanism and makes linear reciprocating motion.

Automatic reversing mechanism of scraper blade possesses switching-over slider and guide rail, and the scraper blade setting can slide along the guide rail on the switching-over slider, includes a arch on drive mechanism's the belt at least, and one side of switching-over slider includes upper limb and lower limb, and the upper limb is provided with first rib at least, and corresponding lower limb is provided with the second rib at least and can be that first rib setting can be the one end at the upper limb, and the second rib setting is at the corresponding other end of lower limb. The first rib and the second rib are matched with the bulge, so that the slider can be reversed after passing through the edge of the belt.

Furthermore, the utility model discloses a dull and stereotyped mopping implementation form still can possess an automatic cleaning water tank, washs and strikes off unnecessary water stain on the rag to the rag after the clean completion, water stain accumulation and manual washing rag problem when solving the clean ground of current robot.

The washing base may have a charging device for charging the household cleaning robot.

The cleaning base may also have a basin. The spray head can be arranged above the water tank or in the water tank. The water wiping mechanism can also be arranged in the water tank. The water tank can also be internally provided with a filtering piece for filtering sewage. The scraper blade sets up in filtering a piece top, and the flat board drags the attached crop that is scraped by the scraper blade to be held back by filtering a piece, and the flat board drags the water of being extruded by the scraper blade to flow into the basin that sets up in filtering a piece low reaches through filtering a piece. The water tank is connected through first water pump to the basin, and the shower nozzle is connected through the second water pump to the water tank. The bottom of the water tank may have a slope, which acts to quickly concentrate the water in the water tank to the bottom of the slope, thereby preventing air from entering the first water pump, creating bubbles. When the mop barrel is cleaned, the mop barrel is placed in the water tank, and the spray head sprays water to wet the mop barrel. The mop barrel is driven by the motor to rotate, and the scraper is contacted with the mop barrel to scrape off the sewage. When the mop cylinder is squeezed to be dry, the spray head stops spraying water, the scraper blade continues to scrape water until water stains on the mop cylinder are scraped (the water stains on the mop cylinder do not drip under the condition of no external force).

step one, a flat plate drags to be gradually close to a scraper of a cleaning base;

step two, when the flat plate drags and scrapes the formation of interference, stop approaching;

thirdly, spraying water by a spray head to wash or wet the flat mop, moving the scraper, scraping off attachments on the flat mop, and extruding water on the flat mop;

step four, stopping spraying water by the spray head, and continuously extruding water dragged by the flat plate by the scraper;

and step five, when the water stains on the flat plate mop are scraped dry (no water drips on the flat plate mop without external force, which does not mean that no water exists on the mopping part), stopping the scraper from moving.

Structure of lifting mechanism

The lifting mechanism of the cleaning robot comprises a driving component, a lifting component and a cleaning component which are connected in sequence; the driving component is used for driving the lifting component; the lifting assembly can enable the cleaning assembly to be lifted and lowered relative to the surface to be cleaned; when the cleaning component descends to contact the surface to be cleaned, the cleaning component is arranged to perform cleaning treatment on the surface to be cleaned; when the cleaning assembly is lifted off the surface to be cleaned, the cleaning assembly is arranged not to obstruct the movement of the cleaning robot.

The lifting mechanism of this form can be applied to the cleaning robot of the above-described embodiment, for example. The driving assembly adopted by the embodiment is a motor assembly, the motor assembly comprises a motor executing device, a motor and a reduction gearbox, and the reduction gearbox is used for adjusting the rotating speed output by the motor. The lifting assembly is a crank-link mechanism, and the cleaning assembly comprises a rolling brush component.

In one embodiment, the crank-link mechanism comprises a crank, a link assembly and a rocker, which are connected in sequence.

The motor drives the reduction gearbox, an output shaft of the reduction gearbox drives the crank to rotate, and the crank drives the connecting rod to move, so that the cleaning assembly swings.

Specifically, the motor output shaft is connected with the reduction box. The output shaft of the reduction box is connected with a crank, and the crank can rotate along with the output shaft of the reduction box. The other end of the crank is connected with the connecting rod assembly, and the connecting rod assembly and the crank can rotate relatively. The connecting rod assembly is connected with the cleaning assembly and can rotate relatively. At least one of the link and the rocker (cleaning assembly) is arranged to have a displacement in a vertical direction, and the cleaning assembly is raised from position to position. In this embodiment, the cleaning assembly is located on the rocker. The cleaning component can be fixed in the middle of the rocker, the first end of the two ends of the rocker is rotatably connected with the connecting rod, and the second end of the two ends of the rocker is rotatably connected with the machine body. The position of the cleaning assembly may be determined by a limit switch or an infrared sensor.

The driving assembly adopted by the other embodiment is the same as the motor assembly adopted by the previous embodiment, the motor assembly comprises a motor executing device, a motor and a reduction gearbox, and the reduction gearbox is used for adjusting the rotating speed output by the motor. In this embodiment, the lifting assembly is a gear pair mechanism. The cleaning assembly includes a plate member. The motor drives the reduction box, the output shaft of the reduction box is connected with the support rod through a gear pair, the output shaft of the reduction box rotates, and the support rod can ascend and descend. Specifically, the motor output shaft is connected with the reduction box. The output shaft of the reduction box is connected with the supporting rod through a gear pair, the supporting rod is connected with the cleaning component, and the cleaning component can rotate back and forth and left and right relative to the supporting rod.

The cleaning elements of cleaning robots currently on the market are flat mop cloths, which are connected to the bottom of a water tank and supply water to the mop cloths via the water tank, wherein the water tank and the mop cloths substantially occupy all the space on one side of the cleaning robot in order to increase the water supply time and water supply. However, the distance between the rag and the ground cannot be adjusted, and the sweeping and mopping processes cannot be independently carried out.

Compared with the domestic cleaning robot in the past, the utility model provides a cleaning robot possesses above-mentioned elevating system, can make and drag the lifting of ground part or descend, drags ground part and scraper blade to form and interferes to the attachment that the scraper blade can be on will dragging the ground part strikes off, can extrude the water on dragging the ground part simultaneously. Moreover, the cleaning robot provided by the utility model is provided with the lifting mechanism, and can also realize independent sweeping and mopping (for example, only mopping and not sweeping, only sweeping and not mopping, etc.); and the obstacle crossing capability can be improved, and the pressure can be applied to mopping the floor.

Many modifications and other embodiments of the invention will come to mind to one skilled in the art to which this invention pertains having the benefit of the teachings presented in the foregoing descriptions. Therefore, the foregoing description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of one or more of the structure and function may be substantially changed without departing from the spirit of the present invention.

Claims

1. A cleaning robot is characterized in that,

comprises a lifting mechanism and a cleaning base seat,

the cleaning base includes:

2. The cleaning robot according to claim 1,

the mopping part comprises a rolling brush which is configured to rotate under the driving of a motor;

3. The cleaning robot according to claim 2,

the rolling brush is configured to contact the squeegee after being lifted by a certain height in a vertical direction by the control of the lifting mechanism.

4. The cleaning robot according to claim 1,

the mopping part comprises a flat mop,

5. The cleaning robot according to claim 4,

the wiper mechanism has an inclination angle, and the floor mopping member is configured to rotate by the corresponding inclination angle while being lifted by the lifting mechanism.

6. The cleaning robot according to any one of claims 1 to 5,

the lifting mechanism comprises: a crank and rocker mechanism, a gear pair or a screw mechanism.

7. The cleaning robot according to any one of claims 1 to 5,

the washing base has a charging device for charging the cleaning robot.

8. The cleaning robot according to any one of claims 1 to 5,

the cleaning robot comprises a limiting mechanism and a guide mechanism; the limiting mechanism is arranged on the main body of the cleaning robot, and the guide mechanism is arranged on the cleaning base; or the limiting mechanism is arranged on the cleaning base, and the guide mechanism is arranged on the main body of the cleaning robot; the limiting mechanism and the guiding mechanism are matched to enable the cleaning robot to be located at a designed position when returning to the cleaning base.

9. The cleaning robot according to claim 8,

stop gear and guiding mechanism establish mutually supporting through the cover, stop gear includes protruding structure, guiding mechanism is the indent structure, the surface of protruding structure with the internal surface of indent structure is tangent, protruding structure is the big gradual change's in front and back axial symmetry structure, the indent structure have with the corresponding shape of protruding structure works as cleaning machines people is in during the design position, last clean subassembly of cleaning machines people with what wash the base scrapes water mechanism mutual interference.